An apparatus for event camera calibration

Abstract

The utility model relates to computer vision technical field, concretely relates to a kind of for event camera calibration device, including base, the outer wall top end side of base is provided with camera fixing seat, event camera main body is fixed in the camera fixing seat, the outer wall top end of base and located the side of event camera main body is provided with the calibration adjustment mechanism that calibrates event camera main body, in the utility model, through the collaborative adjustment of transverse sliding rail, longitudinal sliding rail, electric control push rod, rotating platform, the accurate attitude control of calibration plate in transverse, longitudinal, height, angle range can be realized, support group above different attitude's calibration data acquisition, far superior to traditional manual adjustment device.

Description

Technical Field

[0001] This utility model relates to the field of computer vision technology, and specifically to a device for calibrating event cameras. Background Technology

[0002] Event cameras are a new type of visual sensor. Unlike traditional frame cameras, they output asynchronous event streams only when the brightness of a pixel changes abruptly. They offer advantages such as high frame rate, low latency, and low power consumption, and are widely used in fields such as autonomous driving and robot navigation. Calibration of event cameras is a prerequisite for their application, requiring the determination of intrinsic parameters (focal length, principal point, distortion coefficients) and extrinsic parameters (position, attitude). However, due to the fundamental differences in their working principle compared to frame cameras, traditional calibration devices designed for frame cameras cannot be directly adapted.

[0003] In existing technologies, frame camera calibration devices mostly use fixed calibration plates or simple manual adjustment structures, which have the following drawbacks: First, the position and angle adjustment accuracy of the calibration plate is low, which cannot meet the multi-pose calibration requirements of event cameras; second, there is a lack of synchronous triggering mechanism, and the calibration data collected by the event camera does not match the orientation of the calibration plate, resulting in large calibration errors; third, the ambient light intensity of the calibration environment is uncontrollable, which affects the recognition accuracy of the calibration pattern by the event camera. These problems make it difficult to guarantee the calibration accuracy of the event camera, limiting its application effect, and therefore there are still shortcomings.

[0004] In conclusion, it is necessary to invent a device for calibrating event cameras. Utility Model Content

[0005] To address this issue, this invention provides a calibration device for event cameras, which solves the problem that the position and angle adjustment accuracy of the calibration plate is low and cannot meet the multi-pose calibration requirements of event cameras.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a device for calibrating an event camera, comprising a base, a camera mounting base being provided on one side of the top of the outer wall of the base, an event camera body being fixed inside the camera mounting base, and a calibration adjustment mechanism for calibrating the event camera body being provided on the top of the outer wall of the base and on one side of the event camera body.

[0007] Preferably, each of the bottom corners of the outer wall of the base is equipped with a leveling cup for support, and the bottom of the outer wall of the camera mount is fixedly connected to the top of the outer wall of the base via a support rod.

[0008] Preferably, the calibration adjustment mechanism includes a transverse slide rail, the bottom end of which is fixed to the front and rear sides of the top outer wall of the base, and a guide rail slider is slidably connected to the top outer wall of the transverse slide rail.

[0009] Preferably, a longitudinal slide rail is fixed to the top of the outer wall of the guide rail slider, and an electrically controlled push rod is provided above the top of the outer wall of the longitudinal slide rail. The bottom of the outer wall of the electrically controlled push rod is connected to the top of the outer wall of the longitudinal slide rail through a slider, and the slider is slidably connected to the outer wall of the longitudinal slide rail.

[0010] Preferably, a fixed base is fixed to the top of the outer wall of the electronically controlled push rod, and a rotating platform is fixed to the outer wall of the fixed base on the side close to the camera fixed base. A calibration plate body is provided on the side of the rotating platform away from the fixed base.

[0011] Preferably, a checkerboard pattern is provided at the center of the front end of the outer wall of the calibration plate body, and screw holes are provided through the corners of the outer wall of the calibration plate body. The outer wall side of the rotary table is connected to the screw holes by bolts.

[0012] Preferably, a backlight plate is fixed at the rear end of the outer wall of the calibration plate body and at a position corresponding to the checkerboard calibration pattern. A concave groove is formed on the right side of the outer wall of the calibration plate body and on one side of the checkerboard calibration pattern. An infrared emitter is fixed on the inner wall of the concave groove.

[0013] Preferably, the front end of the outer wall of the camera mount is provided with an infrared receiver for use with an infrared transmitter. The outer wall of the infrared receiver is fixedly connected to the front end of the outer wall of the camera mount through a curved fixing bracket. A control unit for control is installed inside the base and below the camera mount through a slot.

[0014] The beneficial effects of this utility model are:

[0015] In this utility model, through the coordinated adjustment of the transverse slide rail, the longitudinal slide rail, the electric push rod, and the rotary table, the calibration plate can achieve precise attitude control in the transverse, longitudinal, height, and angle ranges, and support the acquisition of calibration data for more than one group of different attitudes, which is far superior to the traditional manual adjustment device.

[0016] In this invention, the infrared transmitter and infrared receiver work together to form a closed-loop synchronization mechanism of "attitude in place - signal trigger - data acquisition", avoiding the time difference between the data acquired by the event camera and the attitude of the calibration board. Tests have shown that this can reduce the error caused by synchronization problems, thereby improving the detection accuracy of the event camera. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the external structure of this utility model from the front view.

[0018] Figure 2 This is a partial structural diagram of the transverse and longitudinal slide rails in this utility model from a top view.

[0019] Figure 3This is a partial structural schematic diagram of the calibration plate body from the right side view of this utility model;

[0020] Figure 4 This is a partial structural diagram of the camera mount in this utility model viewed from the left side;

[0021] Figure 5 This is a three-dimensional structural diagram of the calibration plate body in this utility model.

[0022] In the diagram: 100, base; 110, leveling cup; 120, control unit; 200, horizontal slide rail; 210, guide rail slider; 220, vertical slide rail; 230, electric push rod; 300, fixed seat; 310, rotating table; 400, calibration plate body; 410, checkerboard calibration pattern; 420, concave groove; 421, infrared transmitter; 500, camera mounting base; 510, support rod; 520, event camera body; 530, infrared receiver; 531, curved mounting bracket. Detailed Implementation

[0023] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0024] See attached document Figures 1-5This utility model provides a device for calibrating an event camera, including a base 100, which provides rigid support for the entire device. The base 100 is made of 6061 aluminum alloy with an anodized surface (corrosion and scratch resistant). A camera mounting base 500 is provided on one side of the top of the outer wall of the base 100, and the event camera body 520 is fixed inside the camera mounting base 500. Leveling feet 110 are installed at the bottom corners of the outer wall of the base 100. The leveling feet 110 are threaded stainless steel feet with rubber anti-slip pads (friction coefficient ≥0.8) on the bottom. Rotating the feet allows for level calibration of the base 100 (levelness error ≤0.1°), preventing calibration data deviation due to base tilt. The bottom of the outer wall of the camera mounting base 500 is fixedly connected to the top of the outer wall of the base 100 via a support rod 510. The camera mounting base 500 is used to fix the event camera body. The camera body 520 is made of ABS engineering plastic (lightweight and rigid) or stainless steel. It has a groove structure (compatible with mainstream event camera sizes). The inner wall of the groove is covered with a silicone anti-slip pad (Shore hardness 50HA) to prevent the event camera body 520 from sliding. The camera mounting base 500 has bolt holes on both sides. The event camera body 520 can be pressed and fixed by hexagonal bolts. The support rod 510 connects the camera mounting base 500 and the base 100. It is made of 304 stainless steel and has external threads at both ends. One end is fixed to the top of the base 100 with a nut (corresponding to the preset threaded hole), and the other end is fixed to the bottom of the camera mounting base 500 with a nut (corresponding to the preset threaded hole). After installation, the center height of the camera mounting base 500 is consistent with the center height of the calibration plate body 400 (ensuring that the shooting angle of the event camera body 520 is directly facing the checkerboard calibration pattern 410).

[0025] A calibration adjustment mechanism for calibrating the event camera body 520 is provided at the top of the outer wall of the base 100 and on one side of the event camera body 520. The calibration adjustment mechanism includes a horizontal slide rail 200, which realizes the horizontal (parallel to the length direction of the base 100) position adjustment of the calibration plate. The slide rail is made of 6061 aluminum alloy and has a U-shaped cross-section (opening upward). The inner wall of the slide rail is provided with a ball bearing guide rail. The bottom end of the horizontal slide rail 200 is fixed to the front and rear sides of the top of the base 100 by bolts. One end of the slide rail is provided with a stepper motor (model 28BYJ-4). 8. Step angle 5.625° / 64, reduction ratio 1:64), the motor drives the guide rail slider 210 to slide via a synchronous belt. The guide rail slider 210 connects the transverse slide rail 200 and the longitudinal slide rail 220. It is made of 6061 aluminum alloy and has a ball groove at the bottom that matches the transverse slide rail 200 (compatible with ball guide rail). The top of the guide rail slider 210 has a threaded hole and is fixed to the bottom of the longitudinal slide rail 220 with bolts to ensure that the longitudinal slide rail 220 is perpendicular to the transverse slide rail 200 (perpendicularity error ≤0.1°). The bottom of the transverse slide rail 200 is connected to the base 1. The top of the outer wall of the 00 is fixed at the front and rear sides. The top of the outer wall of the transverse slide rail 200 is slidably connected to a guide rail slider 210. The top of the outer wall of the guide rail slider 210 is fixed to a longitudinal slide rail 220. The longitudinal slide rail 220 allows for longitudinal (parallel to the width direction of the base 100) position adjustment of the calibration plate. Its structure is identical to that of the transverse slide rail 200. Its bottom end is fixed to the top of the guide rail slider 210. One end of the slide rail is also equipped with a 28BYJ-48 stepper motor, which drives the slider (connected to the electrically controlled push rod 230) to slide via a synchronous belt. The top of the outer wall of the longitudinal slide rail 220 is located above... An electrically controlled push rod 230 is provided. The bottom end of the outer wall of the electrically controlled push rod 230 is connected to the top end of the outer wall of the longitudinal slide rail 220 via a slider. The electrically controlled push rod 230, model XTL100, can realize the height adjustment of the calibration plate. Its bottom end is connected to the longitudinal slide rail 220 via a ball slider (matched with the longitudinal slide rail 220), and the slider sliding accuracy is ±0.05mm. The top end of the electrically controlled push rod 230 is fixed to the bottom end of the fixed seat 300 via a flange to ensure that the fixed seat 300 does not shift when the electrically controlled push rod 230 extends or retracts. The slider is slidably connected to the outer wall of the longitudinal slide rail 220.

[0026] A mounting base 300 is fixed to the top of the outer wall of the electrically controlled push rod 230. The mounting base 300 is used to connect the electrically controlled push rod 230 and the rotary table 310. It is made of 6061 aluminum alloy and has a threaded hole at the top. It is fixed to the bottom of the rotary table 310 by bolts. The center of the mounting base 300 is aligned with the center of the electrically controlled push rod 230 (to avoid eccentricity that would cause the rotary table 310 to tilt). The rotary table 310 is fixed to the outer wall of the mounting base 300 on the side closest to the camera mounting base 500. A calibration plate body 400 is provided on the side of the rotary table 310 away from the mounting base 300. This device can be used to adjust the angle of a calibration plate. The model DS3020 (electric rotary table, DC 12V, rotation range 0-360°, angle accuracy ±0.1°) is available. The top mounting surface of the rotary table 310 has threaded holes that match the threaded holes at the corners of the calibration plate body 400. The calibration plate body 400 is then fixed with bolts. The calibration plate body 400 provides a calibration reference pattern and is made of acrylic sheet (transparency ≥90%) with a polished surface. A checkerboard calibration pattern 410 is provided at the center of the front end of the outer wall of the calibration plate body 400. The calibration pattern 410 is a black and white checkered square grid, printed using screen printing (using scratch-resistant black UV ink). The contrast between the black and white grids is ≥90% (ensuring that the event camera body 520 can clearly identify the corners). Screw holes are drilled through the corners of the outer wall of the calibration plate body 400. The outer side of the rotating stage 310 is connected to the screw holes via bolts. A backlight plate is fixed to the rear end of the outer wall of the calibration plate body 400 at a position corresponding to the checkerboard calibration pattern 410. The backlight plate is made of L... The backlight panel uses SMD2835 LEDs (uniformly distributed). The backlight panel is connected to the power management module of the control unit 120 via wires. The control unit 120 controls the brightness to ensure the contrast of the checkerboard calibration pattern 410 is stable under different ambient light intensities. A concave groove 420 is provided on the right side of the outer wall of the calibration board body 400 and on one side of the checkerboard calibration pattern 410. The concave groove 420 is located on the right side of the outer wall of the calibration board body 400 (on one side of the checkerboard calibration pattern 410). Black light-blocking cotton is pasted on the inner wall of the groove (to avoid ambient light interfering with the infrared signal).A threaded hole is provided at the center of the inner wall of the concave groove 420 for fixing the infrared transmitter 421. The infrared transmitter 421, model IR333-A, is used to emit a synchronous trigger signal and is fixed to the inner wall of the concave groove 420 with bolts. The emission direction is directly facing the infrared receiver 530. The infrared transmitter 421 is connected to the signal processing module of the control unit 120 through a wire. The control unit 120 controls the emission timing (the trigger signal is emitted 100ms after each calibration plate attitude adjustment to ensure mechanism stability). The infrared transmitter 421 is fixed to the inner wall of the concave groove 420. The infrared receiver 530, which works in conjunction with the infrared transmitter 421, is set at the front end of the outer wall of the camera mount 500. The outer wall of the infrared receiver 530 is fixed by a curved shape. The bracket 531 is fixedly connected to the front end of the outer wall of the camera mount 500, and the infrared receiver 530, model TSOP4838, is used to receive the synchronization trigger signal. It is fixed to the front outer wall of the camera mount 500 by the curved bracket 531. The curved bracket 531 is a metal fixed bracket. One end is fixed to the camera mount 500 by bolts, and the other end is fixed to the infrared receiver 530 by buckles. The bracket can be bent at will to ensure that the receiving surface of the infrared receiver 530 faces the infrared transmitter 421. The control unit 120 is installed inside the base 100 and below the camera mount 500 through a slot. The control unit 120 is installed inside the base 100 (corresponding to the slot below the camera mount 500). The core module includes:

[0027] MCU (Main Control Chip): Uses STM32F407 microcontroller with a main frequency of 168MHz, supports multiple serial port communication, and is used to receive instructions from the host computer and control the operation of various components;

[0028] Motor drive module: It adopts L298N dual H-bridge drive chip, with an output current of 2A, and is used to drive the stepper motors of the horizontal slide rail 200 and the vertical slide rail 220 and the servo motor on the rotary table 310.

[0029] Signal processing module: LM358 operational amplifier is used to amplify the trigger signal of infrared receiver 530 to ensure stable signal transmission (anti-interference capability ≥40dB);

[0030] Power management module: Input 220V AC power, output 12V DC power (50W), compatible with electrical components such as electric control push rod 230, rotary table 310, and backlight panel;

[0031] Interface module: It is equipped with a USB 2.0 interface (for connecting to the host computer) and a terminal interface (for connecting the wiring harnesses of various components). All interfaces are designed to prevent reverse insertion (to avoid damage to components due to incorrect wiring).

[0032] The usage process of this utility model is as follows:

[0033] Base 100 Installation and Leveling:

[0034] Place the base 100 on a flat workbench, ensuring that the long side of the base 100 is positioned in the front-to-back direction;

[0035] Rotate the four leveling cups 110 at the bottom of the base 100, and use a spirit level to check the levelness of the base 100 until the bubble in the spirit level is centered. After completion, tighten the nuts of the leveling cups 110 (to prevent loosening).

[0036] Control unit 120 installation:

[0037] Open the slotted cover plate (fixed by bolts) at the top of the base 100 corresponding to the bottom of the camera mount 500, and put the control unit 120 into the slot (the heat dissipation holes of the control unit 120 housing face the outside of the slot to ensure heat dissipation).

[0038] Secure the control unit 120 to the bracket on the inner wall of the slot using bolts. Connect the power adapter of the control unit 120 (input 220VAC, output 12VDC). Power on and test the indicator lights of the control unit 120 (power light is red, normal; fault light is yellow, wiring needs to be checked).

[0039] Camera mounting component installation:

[0040] Screw one end (external thread) of the support rod 510 into the preset threaded hole at the top of the base 100, and tighten it with a wrench to ensure that the support rod 510 is perpendicular to the base 100.

[0041] Align the threaded hole at the bottom of the camera mount 500 with the other end of the support rod 510, screw the camera mount 500 in and tighten it, and use a right-angle ruler to check whether the camera mount 500 is perpendicular to the base 100.

[0042] Place the event camera body 520 into the groove of the camera mount 500, ensuring that the camera lens is facing the left side (calibration adjustment mechanism direction), and then screw in the hex bolts on both sides of the camera mount 500 until the bolts lightly touch the camera housing.

[0043] One end of the curved mounting bracket 531 is fixed to the front outer wall of the camera mounting base 500 with bolts. The curved mounting bracket 531 is bent so that the receiving surface of the infrared receiver 530 faces to the left. Then the infrared receiver 530 is snapped into the buckle of the curved mounting bracket 531 to ensure that the center height of the infrared receiver 530 is consistent with the center height of the calibration plate body 400.

[0044] Calibration and adjustment mechanism installation:

[0045] Installation of horizontal slide rail 200: Place the two horizontal slide rails 200 on the front and rear sides of the top of the base 100 respectively, with the length of the slide rails along the length of the base 100 (left and right direction), and use bolts to fix the horizontal slide rails 200 to the top of the base 100.

[0046] Installation of guide rail slider 210 and longitudinal slide rail 220: Place the two guide rail sliders 210 on the ball guide rails of the two transverse slide rails 200 respectively, ensuring that the sliders can slide smoothly. Then align the bottom end of the longitudinal slide rail 220 with the threaded hole at the top of the two guide rail sliders 210 and fix them with bolts. Use a right angle ruler to check whether the longitudinal slide rail 220 is perpendicular to the transverse slide rail 200.

[0047] Installation of the electric actuator 230 and the fixed base 300: Place the ball slider at the bottom of the electric actuator 230 onto the ball guide rail of the longitudinal slide rail 220 to ensure that the slider can slide smoothly. Then align the bottom of the fixed base 300 with the flange at the top of the electric actuator 230 and fix it with bolts.

[0048] Installation of rotary table 310 and calibration plate body 400: Align the bottom end of rotary table 310 with the threaded hole at the top of fixed base 300 and fix it with bolts. Align the threaded holes at the corners of calibration plate body 400 with the threaded holes at the top of rotary table 310 and fix it with bolts. Ensure that the checkerboard calibration pattern 410 faces the right side (in the direction of event camera body 520).

[0049] Backlight panel installation: Attach the backlight panel to the position corresponding to the checkerboard calibration pattern 410 at the rear end of the calibration board body 400 (use double-sided tape to ensure a seamless fit), and then lead the backlight panel's wires out through the reserved holes in the calibration board body 400 and connect them to the backlight control interface of the control unit 120.

[0050] Wiring of synchronous trigger component:

[0051] The wires of the infrared transmitter 421 (red wire to positive, black wire to negative) are led out through the reserved hole of the concave groove 420 and connected to the infrared transmitting interface of the control unit 120.

[0052] The wires of the infrared receiver 530 (red wire to positive, black wire to negative) are led out through the reserved hole of the curved bracket 531 and connected to the infrared receiving interface of the control unit 120.

[0053] Synchronous trigger function for power-on test: The control unit 120 sends a trigger signal, the infrared transmitter 421 lights up (a faint red light is visible to the naked eye), and the indicator light of the infrared receiver 530 lights up green (indicating that the signal reception is normal). If the indicator light does not light up, the alignment angle between the infrared transmitter 421 and the infrared receiver 530 needs to be adjusted until the signal is normal.

[0054] Host computer connection:

[0055] Use a USB 2.0 data cable to connect the USB interface of the control unit 120 to the host computer (computer configuration: CPU i5 or above, memory 8GB or above, operating system Windows 10 or above);

[0056] Install the dedicated calibration software (developed based on the Qt framework and supporting Windows system) on the host computer. After opening the software, select "Device Connection". If the software displays "Control unit connected", the assembly is complete; if it displays "Connection failed", check the USB data cable or the power supply of the control unit 120.

[0057] (II) Calibration Parameter Settings

[0058] Open the host computer calibration software, enter the "Parameter Settings" interface, and set the following parameters (the default parameters are applicable to mainstream event cameras and can be adjusted according to the camera model);

[0059] (III) Calibration Operation Process

[0060] Initialization: Click the "Initialize" button in the software. The control unit 120 drives each component back to its initial position: the guide slider 210 of the horizontal slide rail 200 moves to the position corresponding to the preset initial distance, the slider of the vertical slide rail 220 moves to the middle position, the electric push rod 230 extends and retracts to the middle stroke, the rotary table 310 rotates to 0° (the checkerboard pattern 410 faces the event camera body 520), and the backlight is adjusted to the preset brightness.

[0061] Automatic adjustment and data acquisition:

[0062] Click the "Start Calibration" button in the software, and the control unit 120 will adjust the calibration plate attitude sequentially according to the preset parameters:

[0063] Groups 1-5: Adjust only the horizontal position (adjust gradually according to the preset horizontal adjustment step size), while keeping the vertical, height, and angle at their initial values;

[0064] Groups 6-10: Adjust only the longitudinal position (adjust gradually according to the preset longitudinal adjustment step size), while keeping the lateral, height, and angle at their initial values;

[0065] Groups 11-15: Adjust only the height (adjust gradually according to the preset lifting and lowering adjustment steps), while keeping the horizontal, vertical, and angle values ​​at their initial values;

[0066] Groups 16-20: Adjust only the angle (adjust gradually according to the preset rotation adjustment step size), while keeping the horizontal, vertical, and height values ​​at their initial values;

[0067] After each adjustment is completed, the control unit 120 delays for 100ms and then sends a signal to control the infrared transmitter 421 to emit a trigger signal;

[0068] After receiving the signal, the infrared receiver 530 synchronously triggers the event camera body 520 to collect 500ms of event stream data. The data is transmitted to the host computer in real time via the data cable, and the software automatically saves the data (in CSV format, containing the x, y, t, and polarity information of the event).

[0069] Data calculation and result output:

[0070] After collecting 20 sets of data, the software automatically calls the "Improved Zhang Zhengyou Calibration Algorithm" to process the data:

[0071] Corner extraction: Extract the corner coordinates of the checkerboard calibration pattern 410 from the event stream (extract a sufficient number of corners for each pose, with a corner positioning accuracy of ±0.1px);

[0072] Intrinsic parameter calculation: Based on the coordinates of multiple attitude corner points, the focal length (fx, fy), principal point (cx, cy), and distortion coefficients (k1, k2) are solved by the least squares method;

[0073] External parameter calculation: Based on the intrinsic parameter results, the position (x, y, z) and attitude (roll, pitch, yaw) of the event camera body 520 relative to the calibration board body 400 are solved for each pose;

[0074] Error verification: Verify calibration accuracy by reprojection error (reprojection error ≤ 0.5px, i.e. calibration error ≤ 0.5%);

[0075] The software generates a "calibration report" which includes internal parameters, external parameters, error values, and calibration curves. It can be exported as a PDF (example results: fx = 800px, fy = 800px, cx = 320px, cy = 240px, k1 = -0.04, k2 = 0.02, reprojection error 0.3px).

[0076] (iv) Post-calibration maintenance

[0077] Component cleaning:

[0078] Wipe the checkerboard calibration pattern 410 on the calibration plate body 400 with a lint-free cloth dampened with isopropyl alcohol (99% concentration) to remove dust (to avoid affecting corner point recognition);

[0079] Use a compressed air can to blow away the dust from the ball guide rails of the transverse slide rail 200 and the longitudinal slide rail 220, and then apply a small amount of lithium-based grease to ensure smooth sliding of the slider.

[0080] Parameter saving:

[0081] Save the calibration report and the 20 sets of collected data in a dedicated folder on the host computer (it is recommended to name them as "calibration date-camera model" for easy traceability);

[0082] Input the calibrated intrinsic parameters into the configuration software of the event camera body 520 to ensure that the event stream data output by the camera has been distorted.

[0083] Device storage:

[0084] After calibration, turn off the power to the control unit 120 and unplug the power adapter and USB data cable;

[0085] Place the device in a dry, well-ventilated environment, avoiding direct sunlight or humid conditions that could cause corrosion of the components.

[0086] The above description is merely a preferred embodiment of this utility model. Any person skilled in the art may modify this utility model or modify it into an equivalent technical solution using the technical solutions described above. Therefore, any simple modifications or equivalent substitutions made based on the technical solutions of this utility model are within the scope of protection claimed by this utility model.

Claims

1. A device for calibrating an event camera, characterized in that: Includes a base (100), a camera mounting base (500) is provided on one side of the top of the outer wall of the base (100), an event camera body (520) is fixed inside the camera mounting base (500), and a calibration adjustment mechanism for calibrating the event camera body (520) is provided on the top of the outer wall of the base (100) and on one side of the event camera body (520).

2. The apparatus for event camera calibration of claim 1, wherein: The bottom edge of the outer wall of the base (100) is equipped with a leveling cup (110) for support. The bottom edge of the outer wall of the camera mounting base (500) is fixedly connected to the top edge of the outer wall of the base (100) by a support rod (510).

3. An apparatus for event camera calibration according to claim 2, wherein: The calibration adjustment mechanism includes a horizontal slide rail (200), the bottom end of which is fixed to the front and rear sides of the top outer wall of the base (100), and a guide rail slider (210) is slidably connected to the top outer wall of the horizontal slide rail (200).

4. The apparatus for event camera calibration of claim 3, wherein: The top of the outer wall of the guide slider (210) is fixed with a longitudinal slide rail (220). An electric push rod (230) is provided above the top of the outer wall of the longitudinal slide rail (220). The bottom of the outer wall of the electric push rod (230) is connected to the top of the outer wall of the longitudinal slide rail (220) through a slider. The slider is slidably connected to the outer wall of the longitudinal slide rail (220).

5. An apparatus for event camera calibration according to claim 4, wherein: The top of the outer wall of the electronically controlled push rod (230) is fixed with a mounting base (300), and a rotating platform (310) is fixed on the outer wall of the mounting base (300) and on the side close to the camera mounting base (500). A calibration plate body (400) is provided on the side of the rotating platform (310) away from the mounting base (300).

6. An apparatus for event camera calibration according to claim 5, wherein: A checkerboard pattern (410) is provided at the center of the front end of the outer wall of the calibration plate body (400). Screw holes are provided through the corners of the outer wall of the calibration plate body (400). The outer side of the rotating table (310) is connected to the screw holes by bolts.

7. An apparatus for event camera calibration according to claim 6, wherein: A backlight plate is fixed at the rear end of the outer wall of the calibration plate body (400) and at the position corresponding to the checkerboard calibration pattern (410). A concave groove (420) is provided on the right side of the outer wall of the calibration plate body (400) and on one side of the checkerboard calibration pattern (410). An infrared emitter (421) is fixed on the inner wall of the concave groove (420).

8. The apparatus for event camera calibration of claim 7, wherein: An infrared receiver (530) for use with an infrared transmitter (421) is provided at the front end of the outer wall of the camera mount (500). The outer wall of the infrared receiver (530) is fixedly connected to the front end of the outer wall of the camera mount (500) through a curved bracket (531). A control unit (120) for control is installed inside the base (100) and below the camera mount (500) through a slot.

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